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Gazebo Terminal #3

Herowaree
Apr 12th, 2021
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  1. export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=f450; export ODOMETRY_TYPE=gps; export WORLD_NAME=simulation_local; export SENSORS="garmin_down"
  2. waitForRos; roslaunch mrs_simulation simulation.launch world_name:=grass_plane gui:=true
  3. thulio@OptiPlex-3040:~/workspace/src/flocking_behavior/scripts/2D/GPS/two_drone_obstacles$ export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=f450; export ODOMETRY_TYPE=gps; export WORLD_NAME=simulation_local; export SENSORS="garmin_down"
  4. thulio@OptiPlex-3040:~/workspace/src/flocking_behavior/scripts/2D/GPS/two_drone_obstacles$ waitForRos; roslaunch mrs_simulation simulation.launch world_name:=grass_plane gui:=true
  5. waiting for ros
  6. ... logging to /home/thulio/.ros/log/d030ba5c-9b91-11eb-9bc9-afd3caee2f3b/roslaunch-OptiPlex-3040-32410.log
  7. Checking log directory for disk usage. This may take a while.
  8. Press Ctrl-C to interrupt
  9. Done checking log file disk usage. Usage is <1GB.
  10.  
  11. started roslaunch server http://OptiPlex-3040:44581/
  12.  
  13. SUMMARY
  14. ========
  15.  
  16. PARAMETERS
  17. * /rosdistro: noetic
  18. * /rosversion: 1.15.9
  19. * /use_sim_time: True
  20.  
  21. NODES
  22. /
  23. gazebo (gazebo_ros/gzserver)
  24. gazebo_gui (gazebo_ros/gzclient)
  25. mrs_drone_spawner (mrs_simulation/mrs_drone_spawner)
  26.  
  27. ROS_MASTER_URI=http://localhost:11311
  28.  
  29. process[mrs_drone_spawner-1]: started with pid [32513]
  30. process[gazebo-2]: started with pid [32518]
  31. process[gazebo_gui-3]: started with pid [32523]
  32. [INFO] [1618233616.167562, 0.000000]: [DroneSpawner]: Node initialization started. All parameters loaded correctly.
  33. [INFO] [1618233616.168389, 0.000000]: [DroneSpawner]: Loaded the following params:
  34. enable_rangefinder: [False, 'Add a laser rangefinder (Garmin) pointing down', ['f450', 'f550', 't650', 'x500', 'f330', 'eaglemk2']]
  35. enable_rangefinder_up: [False, 'Add a laser rangefinder (Garmin) pointing up', ['f450', 'f550', 't650']]
  36. enable_teraranger: [False, 'Add a laser rangefinder (Teraranger) to the vehicle', ['f450', 'f550', 't650']]
  37. enable_ground_truth: [False, 'Enable topic with ground truth odometry', ['f450', 'f550', 't650', 'x500', 'f330', 'eaglemk2']]
  38. enable_mobius_camera_front: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the front', ['f450', 'f550', 't650']]
  39. enable_mobius_camera_down: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the ground', ['f450', 'f550']]
  40. enable_mobius_camera_back_left: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the back left', ['f450', 'f550']]
  41. enable_mobius_camera_back_right: [False, 'Add mobius camera to the vehicle [1280x720 30hz], pointed to the back right', ['f450', 'f550']]
  42. enable_realsense_front_pitched: [False, 'Add Intel Realsense D435 depth camera to the vehicle [1280x720 30hz], pointed to the front pitched down by 10 up to 45 deg. Depends on the type of vehicle', ['f450', 'f550']]
  43. enable_realsense_down: [False, 'Add Intel Realsense D435 depth camera to the vehicle [1280x720 30hz], pointed down', ['f450', 'f550', 't650']]
  44. enable_realsense_top: [False, 'Add Intel Realsense D435 depth camera to the vehicle [1280x720 30hz], pointed forward placed on the aluminum frame', ['f550', 't650']]
  45. enable_realsense_front: [False, 'Add Intel Realsense D435 depth camera to the vehicle [1280x720 30hz], pointed forward placed on the front holder between the legs', ['f450', 'f550', 't650']]
  46. enable_realsense_up: [False, 'Add Intel Realsense D435 depth camera to the vehicle [1280x720 30hz], pointed upwards', ['f450', 'f550', 't650']]
  47. enable_realsense_up_down: [False, 'Add 2 Intel Realsense D435 depth cameras to the vehicle [1280x720 30hz], pointed upwards and downwards', ['f450', 'f550', 't650']]
  48. use_realistic_realsense: [False, 'Enable a more realistic simulation of the Realsense D435 depth image (only takes effect if some Realsense is enabled)', ['f330', 'f450', 'f550', 't650', 'x500']]
  49. enable_whycon_box: [False, 'Add a Whycon box for relative localization', ['f450', 'f550']]
  50. enable_bluefox_camera: [False, 'Add bluefox camera to the vehicle [752x480 50hz]', ['f450', 'f550', 't650']]
  51. enable_bluefox_camera_reverse: [False, 'Add bluefox camera to the vehicle [752x480 50hz], rotated by 180 deg', ['f450', 'f550', 't650']]
  52. enable_fisheye_camera: [False, 'Add fisheye camera to the vehicle [752x480 180deg 45hz]', ['f450']]
  53. enable_magnetic_gripper: [False, 'Add magnetic gripper', ['f450', 'f550', 't650']]
  54. enable_scanse_sweep: [False, 'Add Scanse Sweep laser scanner to the vehicle', ['f450', 'f550', 't650']]
  55. enable_rplidar: [False, 'Add the RPlidar A3 laser scanner to the vehicle', ['f450', 'f550', 't650', 'x500']]
  56. enable_pendulum: [False, 'Add pendulum to the vehicle', ['f450', 'f550', 't650']]
  57. enable_teraranger_tower_evo: [False, 'Add the Teraranger Tower Evo laser scanner to the vehicle', ['f450', 'f550', 't650']]
  58. enable_timepix: [False, 'Add Timepix radiation detector to the vehicle', ['f450', 'f550', 't650']]
  59. enable_thermal_camera: [False, 'Add thermal camera to the vehicle', ['t650']]
  60. enable_velodyne: [False, 'Add Velodyne PUCK Lite laser scanner to the vehicle', ['f450', 'f550', 't650']]
  61. enable_ouster: [False, 'Add Ouster laser scanner to the vehicle', ['f450', 'f550', 't650']]
  62. ouster_model: ['None', 'Choose the Ouster model. Options: OS0-32, OS0-64, OS0-128, OS1-16, OS1-32G1, OS1-32, OS1-64, OS1-128, OS2-32, OS2-64, OS2-128', ['f450', 'f550', 't650']]
  63. use_gpu_ray: [False, 'Laser ray casting will be handled by GPU shaders', ['f330', 'f450', 'f550', 't650', 'x500']]
  64. enable_light: [False, 'Add light to the vehicle', ['f450', 'f550', 't650']]
  65. enable_servo_camera: [False, 'Add camera on virtual servo to the vehicle', ['f450', 'f550', 't650']]
  66. enable_ball_holder: [False, 'Add ball holder to the vehicle', ['f450', 'f550', 't650']]
  67. enable_water_gun: [False, 'Add water gun for fire fighting', ['t650']]
  68. enable_parachute: [False, 'Add parachute for emergency flight termination', ['t650']]
  69. wall_challenge: [False, 'Configuration for the MBZIRC wall challenge (T650 with 2x bluefox down, realsense down pitched, rangefinder down)', ['t650']]
  70. fire_challenge: [False, 'Configuration for the MBZIRC fire challenge (T650 with bluefox down, realsense forward, rp lidar, 3x thermal camera, water gun)', ['t650']]
  71. fire_challenge_blanket: [False, 'Configuration for the MBZIRC fire challenge (blanket dropping) (T650 with bluefox down, realsense forward, rp lidar, 2x thermal camera, maybe blanket dropper)', ['t650']]
  72. gps_indoor_jamming: [False, 'Enable GPS jamming when drone is indoors (NOTE: UNUSED PARAMETER!)', ['f450', 'f550', 't650']]
  73. enable_uv_leds: [False, 'Add UV LEDs to the vehicle (NOTE: T650 CONFIGURATION SEEMS WRONG!)', ['f450', 'f550', 't650']]
  74. uvled_fr_l: ['None', 'Specify UV LED frequency left', ['f450', 'f550', 't650']]
  75. uvled_fr_r: ['None', 'Specify UV LED frequency right', ['f450', 'f550', 't650']]
  76. enable_uv_leds_beacon: [False, 'Add UV LED beacon to the top of the vehicle', ['f450']]
  77. uvled_beacon_f: ['None', 'The frequency of blinking of the UV Beacon', ['f450']]
  78. enable_uv_camera: [False, 'Add UV camera on the vehicle', ['f450', 'f550', 't650']]
  79. uvcam_calib_file: ['None', 'Specify UV camera calibration different than default one', ['f450', 'f550', 't650']]
  80. uvcam_occlusions: [False, 'Enable occlusions for UVDAR simulation (NOTE: THIS REQUIRES A BEEFY COMPUTER)', ['f450', 'f550', 't650']]
  81. pos_file: ['None', 'Load positions and ids from .csv file with format: [id, x, y, z, heading] or .yaml file with format: [uav_name: \\n id: (int) \\n x: (float) \\n y: (float) \\n z: (float) \\n heading: (float)]', ['f330', 'f450', 'f550', 't650', 'x500', 'eaglemk2']]
  82. pos: ['None', 'Specify spawn position of the first vehicle in format [x, y, z, heading]. Additional vehicles will spawn in line with 2m x-offset', ['f330', 'f450', 'f550', 't650', 'x500', 'eaglemk2']]
  83. enable_vio: [False, 'Add a forward-looking fisheye camera and a high frequency IMU', ['f330']]
  84. model_package: ['mrs_simulation', 'package name for the UAV models', ['f330', 'f450', 'f550', 't650', 'x500', 'eaglemk2']]
  85.  
  86. [INFO] [1618233616.172936, 0.000000]: [DroneSpawner]: remove arg 'verbose' in mrs_drone_spawner.launch to stop listing params on startup
  87. Gazebo multi-robot simulator, version 11.3.0
  88. Copyright (C) 2012 Open Source Robotics Foundation.
  89. Released under the Apache 2 License.
  90. http://gazebosim.org
  91.  
  92. [ INFO] [1618233616.369306607]: Finished loading Gazebo ROS API Plugin.
  93. [Msg] Waiting for master.
  94. [ INFO] [1618233616.370999812]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
  95. [Msg] Connected to gazebo master @ http://127.0.0.1:11345
  96. [Msg] Publicized address: 150.165.167.29
  97. [ INFO] [1618233616.457241156]: Finished loading Gazebo ROS API Plugin.
  98. [ INFO] [1618233616.459430271]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
  99. [Msg] Loading world file [/home/thulio/mrs_workspace/src/simulation/ros_packages/mrs_gazebo_common_resources/worlds/grass_plane.world]
  100. [ INFO] [1618233616.682855782]: waitForService: Service [/gazebo/set_physics_properties] is now available.
  101. [ INFO] [1618233616.711088183]: [GazeboStaticTransformRepublisher]: Initialized
  102. [ INFO] [1618233616.714649777]: Physics dynamic reconfigure ready.
  103. [ INFO] [1618233616.719843548]: [GazeboRvizCamSynchronizer]: Initialized
  104. [INFO] [1618233631.070540, 14.332000]: [DroneSpawner]: Requested vehicle IDs: [1]
  105. [INFO] [1618233631.071511, 14.332000]: [DroneSpawner]: Customized params:
  106. enable_rangefinder: True
  107. enable_rplidar: True
  108. enable_bluefox_camera: True
  109. pos_file: /home/thulio/workspace/src/flocking_behavior/scripts/2D/GPS/two_drone_obstacles/pos.yaml
  110. [INFO] [1618233631.072799, 14.336000]: [DroneSpawner]: Loading spawn poses from file '/home/thulio/workspace/src/flocking_behavior/scripts/2D/GPS/two_drone_obstacles/pos.yaml'
  111. [INFO] [1618233631.074725, 14.336000]: [DroneSpawner]: Spawn poses returned:
  112. [INFO] [1618233631.075660, 14.336000]: [DroneSpawner]: {1: {'x': 0.0, 'y': 0.0, 'z': 0.0, 'heading': 0.0}}
  113. UAV1 ARGS_SEQUENCE:
  114. ['ID:=1', 'vehicle:=f450', 'udp_offboard_port_remote:=14006', 'udp_offboard_port_local:=14005', 'mavlink_tcp_port:=4561', 'mavlink_udp_port:=14561', 'fcu_url:=udp://:14006@localhost:14005', 'x:=0.0', 'y:=0.0', 'z:=0.0', 'heading:=0.0', 'model_config_file:=/tmp/simulation_j8crrpll_uav1.yaml', 'resource_package_path:=/home/thulio/mrs_workspace/src/simulation/ros_packages/mrs_simulation']
  115. [INFO] [1618233631.136272, 14.400000]: [DroneSpawner]: Running mavros for uav1...
  116. ... logging to /home/thulio/.ros/log/d030ba5c-9b91-11eb-9bc9-afd3caee2f3b/roslaunch-OptiPlex-3040-32531.log
  117. started roslaunch server http://OptiPlex-3040:40299/
  118.  
  119. SUMMARY
  120. ========
  121.  
  122. CLEAR PARAMETERS
  123. * /uav1/mavros/
  124.  
  125. PARAMETERS
  126. * /rosdistro: noetic
  127. * /rosversion: 1.15.9
  128. * /uav1/mavros/cmd/use_comp_id_system_control: False
  129. * /uav1/mavros/conn/heartbeat_rate: 1.0
  130. * /uav1/mavros/conn/system_time_rate: 1.0
  131. * /uav1/mavros/conn/timeout: 10.0
  132. * /uav1/mavros/conn/timesync_rate: 10.0
  133. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  134. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  135. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/id: 0
  136. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
  137. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  138. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  139. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  140. * /uav1/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  141. * /uav1/mavros/distance_sensor/laser_1_sub/id: 3
  142. * /uav1/mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
  143. * /uav1/mavros/distance_sensor/laser_1_sub/subscriber: True
  144. * /uav1/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  145. * /uav1/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  146. * /uav1/mavros/distance_sensor/lidarlite_pub/id: 1
  147. * /uav1/mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
  148. * /uav1/mavros/distance_sensor/lidarlite_pub/send_tf: True
  149. * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  150. * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  151. * /uav1/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  152. * /uav1/mavros/distance_sensor/sonar_1_sub/id: 2
  153. * /uav1/mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
  154. * /uav1/mavros/distance_sensor/sonar_1_sub/subscriber: True
  155. * /uav1/mavros/fake_gps/eph: 2.0
  156. * /uav1/mavros/fake_gps/epv: 2.0
  157. * /uav1/mavros/fake_gps/fix_type: 3
  158. * /uav1/mavros/fake_gps/geo_origin/alt: 408.0
  159. * /uav1/mavros/fake_gps/geo_origin/lat: 47.3667
  160. * /uav1/mavros/fake_gps/geo_origin/lon: 8.55
  161. * /uav1/mavros/fake_gps/gps_rate: 5.0
  162. * /uav1/mavros/fake_gps/mocap_transform: True
  163. * /uav1/mavros/fake_gps/satellites_visible: 5
  164. * /uav1/mavros/fake_gps/tf/child_frame_id: fix
  165. * /uav1/mavros/fake_gps/tf/frame_id: map
  166. * /uav1/mavros/fake_gps/tf/listen: False
  167. * /uav1/mavros/fake_gps/tf/rate_limit: 10.0
  168. * /uav1/mavros/fake_gps/tf/send: False
  169. * /uav1/mavros/fake_gps/use_mocap: True
  170. * /uav1/mavros/fake_gps/use_vision: False
  171. * /uav1/mavros/fcu_protocol: v2.0
  172. * /uav1/mavros/fcu_url: udp://:14006@loca...
  173. * /uav1/mavros/gcs_url:
  174. * /uav1/mavros/global_position/child_frame_id: base_link
  175. * /uav1/mavros/global_position/frame_id: map
  176. * /uav1/mavros/global_position/gps_uere: 1.0
  177. * /uav1/mavros/global_position/rot_covariance: 99999.0
  178. * /uav1/mavros/global_position/tf/child_frame_id: base_link
  179. * /uav1/mavros/global_position/tf/frame_id: map
  180. * /uav1/mavros/global_position/tf/global_frame_id: earth
  181. * /uav1/mavros/global_position/tf/send: False
  182. * /uav1/mavros/global_position/use_relative_alt: True
  183. * /uav1/mavros/image/frame_id: px4flow
  184. * /uav1/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
  185. * /uav1/mavros/imu/frame_id: base_link
  186. * /uav1/mavros/imu/linear_acceleration_stdev: 0.0003
  187. * /uav1/mavros/imu/magnetic_stdev: 0.0
  188. * /uav1/mavros/imu/orientation_stdev: 1.0
  189. * /uav1/mavros/landing_target/camera/fov_x: 2.0071286398
  190. * /uav1/mavros/landing_target/camera/fov_y: 2.0071286398
  191. * /uav1/mavros/landing_target/image/height: 480
  192. * /uav1/mavros/landing_target/image/width: 640
  193. * /uav1/mavros/landing_target/land_target_type: VISION_FIDUCIAL
  194. * /uav1/mavros/landing_target/listen_lt: False
  195. * /uav1/mavros/landing_target/mav_frame: LOCAL_NED
  196. * /uav1/mavros/landing_target/target_size/x: 0.3
  197. * /uav1/mavros/landing_target/target_size/y: 0.3
  198. * /uav1/mavros/landing_target/tf/child_frame_id: camera_center
  199. * /uav1/mavros/landing_target/tf/frame_id: landing_target
  200. * /uav1/mavros/landing_target/tf/listen: False
  201. * /uav1/mavros/landing_target/tf/rate_limit: 10.0
  202. * /uav1/mavros/landing_target/tf/send: True
  203. * /uav1/mavros/local_position/frame_id: map
  204. * /uav1/mavros/local_position/tf/child_frame_id: base_link
  205. * /uav1/mavros/local_position/tf/frame_id: map
  206. * /uav1/mavros/local_position/tf/send: False
  207. * /uav1/mavros/local_position/tf/send_fcu: False
  208. * /uav1/mavros/mission/pull_after_gcs: True
  209. * /uav1/mavros/mocap/use_pose: True
  210. * /uav1/mavros/mocap/use_tf: False
  211. * /uav1/mavros/odometry/fcu/odom_child_id_des: base_link
  212. * /uav1/mavros/odometry/fcu/odom_parent_id_des: map
  213. * /uav1/mavros/plugin_blacklist: ['safety_area', '...
  214. * /uav1/mavros/plugin_whitelist: []
  215. * /uav1/mavros/px4flow/frame_id: px4flow
  216. * /uav1/mavros/px4flow/ranger_fov: 0.118682
  217. * /uav1/mavros/px4flow/ranger_max_range: 5.0
  218. * /uav1/mavros/px4flow/ranger_min_range: 0.3
  219. * /uav1/mavros/safety_area/p1/x: 1.0
  220. * /uav1/mavros/safety_area/p1/y: 1.0
  221. * /uav1/mavros/safety_area/p1/z: 1.0
  222. * /uav1/mavros/safety_area/p2/x: -1.0
  223. * /uav1/mavros/safety_area/p2/y: -1.0
  224. * /uav1/mavros/safety_area/p2/z: -1.0
  225. * /uav1/mavros/setpoint_accel/send_force: False
  226. * /uav1/mavros/setpoint_attitude/reverse_thrust: False
  227. * /uav1/mavros/setpoint_attitude/tf/child_frame_id: target_attitude
  228. * /uav1/mavros/setpoint_attitude/tf/frame_id: map
  229. * /uav1/mavros/setpoint_attitude/tf/listen: False
  230. * /uav1/mavros/setpoint_attitude/tf/rate_limit: 50.0
  231. * /uav1/mavros/setpoint_attitude/use_quaternion: False
  232. * /uav1/mavros/setpoint_position/mav_frame: LOCAL_NED
  233. * /uav1/mavros/setpoint_position/tf/child_frame_id: target_position
  234. * /uav1/mavros/setpoint_position/tf/frame_id: map
  235. * /uav1/mavros/setpoint_position/tf/listen: False
  236. * /uav1/mavros/setpoint_position/tf/rate_limit: 50.0
  237. * /uav1/mavros/setpoint_raw/thrust_scaling: 1.0
  238. * /uav1/mavros/setpoint_velocity/mav_frame: LOCAL_NED
  239. * /uav1/mavros/startup_px4_usb_quirk: True
  240. * /uav1/mavros/sys/disable_diag: False
  241. * /uav1/mavros/sys/min_voltage: 10.0
  242. * /uav1/mavros/target_component_id: 1
  243. * /uav1/mavros/target_system_id: 2
  244. * /uav1/mavros/tdr_radio/low_rssi: 40
  245. * /uav1/mavros/time/time_ref_source: fcu
  246. * /uav1/mavros/time/timesync_avg_alpha: 0.6
  247. * /uav1/mavros/time/timesync_mode: MAVLINK
  248. * /uav1/mavros/vibration/frame_id: base_link
  249. * /uav1/mavros/vision_pose/tf/child_frame_id: vision_estimate
  250. * /uav1/mavros/vision_pose/tf/frame_id: odom
  251. * /uav1/mavros/vision_pose/tf/listen: False
  252. * /uav1/mavros/vision_pose/tf/rate_limit: 10.0
  253. * /uav1/mavros/vision_speed/listen_twist: True
  254. * /uav1/mavros/vision_speed/twist_cov: True
  255. * /uav1/mavros/wheel_odometry/child_frame_id: base_link
  256. * /uav1/mavros/wheel_odometry/count: 2
  257. * /uav1/mavros/wheel_odometry/frame_id: odom
  258. * /uav1/mavros/wheel_odometry/send_raw: True
  259. * /uav1/mavros/wheel_odometry/send_twist: False
  260. * /uav1/mavros/wheel_odometry/tf/child_frame_id: base_link
  261. * /uav1/mavros/wheel_odometry/tf/frame_id: odom
  262. * /uav1/mavros/wheel_odometry/tf/send: False
  263. * /uav1/mavros/wheel_odometry/use_rpm: False
  264. * /uav1/mavros/wheel_odometry/vel_error: 0.1
  265. * /uav1/mavros/wheel_odometry/wheel0/radius: 0.05
  266. * /uav1/mavros/wheel_odometry/wheel0/x: 0.0
  267. * /uav1/mavros/wheel_odometry/wheel0/y: -0.15
  268. * /uav1/mavros/wheel_odometry/wheel1/radius: 0.05
  269. * /uav1/mavros/wheel_odometry/wheel1/x: 0.0
  270. * /uav1/mavros/wheel_odometry/wheel1/y: 0.15
  271.  
  272. NODES
  273. /uav1/
  274. mavros (mavros/mavros_node)
  275.  
  276. ROS_MASTER_URI=http://localhost:11311
  277. process[uav1/mavros-1]: started with pid [33666]
  278. [INFO] [1618233632.198212, 15.456000]: [DroneSpawner]: Waiting for uav1's mavros to start publishing...
  279. [ INFO] [1618233632.276694984]: FCU URL: udp://:14006@localhost:14005
  280. [ INFO] [1618233632.278432029]: udp0: Bind address: 0.0.0.0:14006
  281. [ INFO] [1618233632.278523174]: udp0: Remote address: 127.0.0.1:14005
  282. [ INFO] [1618233632.278614794]: GCS bridge disabled
  283. [ INFO] [1618233632.287244341]: Plugin 3dr_radio loaded
  284. [ INFO] [1618233632.288429886]: Plugin 3dr_radio initialized
  285. [ INFO] [1618233632.288499879]: Plugin actuator_control loaded
  286. [ INFO] [1618233632.290297508]: Plugin actuator_control initialized
  287. [ INFO] [1618233632.292701332]: Plugin adsb loaded
  288. [ INFO] [1618233632.294604551]: Plugin adsb initialized
  289. [ INFO] [1618233632.294805975]: Plugin altitude loaded
  290. [ INFO] [1618233632.295808568]: Plugin altitude initialized
  291. [ INFO] [1618233632.295959855]: Plugin cam_imu_sync loaded
  292. [ INFO] [1618233632.296977348]: Plugin cam_imu_sync initialized
  293. [ INFO] [1618233632.297115149]: Plugin command loaded
  294. [ INFO] [1618233632.301496538]: Plugin command initialized
  295. [ INFO] [1618233632.301577992]: Plugin companion_process_status loaded
  296. [ INFO] [1618233632.303200096]: Plugin companion_process_status initialized
  297. [ INFO] [1618233632.303362880]: Plugin debug_value loaded
  298. [ INFO] [1618233632.306551774]: Plugin debug_value initialized
  299. [ INFO] [1618233632.306586084]: Plugin distance_sensor blacklisted
  300. [ INFO] [1618233632.306666621]: Plugin fake_gps loaded
  301. [ INFO] [1618233632.316171985]: Plugin fake_gps initialized
  302. [ INFO] [1618233632.316263564]: Plugin ftp loaded
  303. [ INFO] [1618233632.320588048]: Plugin ftp initialized
  304. [ INFO] [1618233632.320667653]: Plugin global_position loaded
  305. [ INFO] [1618233632.331948708]: Plugin global_position initialized
  306. [ INFO] [1618233632.332037798]: Plugin gps_rtk loaded
  307. [ INFO] [1618233632.334155567]: Plugin gps_rtk initialized
  308. [ INFO] [1618233632.334255883]: Plugin hil loaded
  309. [ INFO] [1618233632.342418045]: Plugin hil initialized
  310. [ INFO] [1618233632.342525080]: Plugin home_position loaded
  311. [ INFO] [1618233632.346215872]: Plugin home_position initialized
  312. [ INFO] [1618233632.346308749]: Plugin imu loaded
  313. [ INFO] [1618233632.353594183]: Plugin imu initialized
  314. [ INFO] [1618233632.353720151]: Plugin landing_target loaded
  315. [ INFO] [1618233632.364244728]: Plugin landing_target initialized
  316. [ INFO] [1618233632.364362401]: Plugin local_position loaded
  317. [ INFO] [1618233632.368891528]: Plugin local_position initialized
  318. [ INFO] [1618233632.368975107]: Plugin log_transfer loaded
  319. [ INFO] [1618233632.370632564]: Plugin log_transfer initialized
  320. [ INFO] [1618233632.370825106]: Plugin manual_control loaded
  321. [ INFO] [1618233632.372647832]: Plugin manual_control initialized
  322. [ INFO] [1618233632.372794220]: Plugin mocap_pose_estimate loaded
  323. [ INFO] [1618233632.375272765]: Plugin mocap_pose_estimate initialized
  324. [ INFO] [1618233632.375383813]: Plugin mount_control loaded
  325. [ INFO] [1618233632.378351406]: Plugin mount_control initialized
  326. [ INFO] [1618233632.378463036]: Plugin obstacle_distance loaded
  327. [ INFO] [1618233632.380696822]: Plugin obstacle_distance initialized
  328. [ INFO] [1618233632.380798480]: Plugin odom loaded
  329. [ INFO] [1618233632.383455811]: Plugin odom initialized
  330. [ INFO] [1618233632.383524346]: Plugin onboard_computer_status loaded
  331. [ INFO] [1618233632.384882398]: Plugin onboard_computer_status initialized
  332. [ INFO] [1618233632.384967074]: Plugin param loaded
  333. [ INFO] [1618233632.386477768]: Plugin param initialized
  334. [ INFO] [1618233632.386549311]: Plugin px4flow loaded
  335. [ INFO] [1618233632.390965230]: Plugin px4flow initialized
  336. [ INFO] [1618233632.391005612]: Plugin rangefinder blacklisted
  337. [ INFO] [1618233632.391081104]: Plugin rc_io loaded
  338. [ INFO] [1618233632.394362113]: Plugin rc_io initialized
  339. [ INFO] [1618233632.394398944]: Plugin safety_area blacklisted
  340. [ INFO] [1618233632.394476413]: Plugin setpoint_accel loaded
  341. [ INFO] [1618233632.396661801]: Plugin setpoint_accel initialized
  342. [ INFO] [1618233632.396770785]: Plugin setpoint_attitude loaded
  343. [ INFO] [1618233632.402864315]: Plugin setpoint_attitude initialized
  344. [ INFO] [1618233632.402955426]: Plugin setpoint_position loaded
  345. [ INFO] [1618233632.414136857]: Plugin setpoint_position initialized
  346. [ INFO] [1618233632.414231635]: Plugin setpoint_raw loaded
  347. [ INFO] [1618233632.419298859]: Plugin setpoint_raw initialized
  348. [ INFO] [1618233632.419395609]: Plugin setpoint_trajectory loaded
  349. [ INFO] [1618233632.422415915]: Plugin setpoint_trajectory initialized
  350. [ INFO] [1618233632.422537002]: Plugin setpoint_velocity loaded
  351. [ INFO] [1618233632.427149304]: Plugin setpoint_velocity initialized
  352. [ INFO] [1618233632.427287504]: Plugin sys_status loaded
  353. [ INFO] [1618233632.433819574]: Plugin sys_status initialized
  354. [ INFO] [1618233632.433912110]: Plugin sys_time loaded
  355. [ INFO] [1618233632.437093649]: TM: Timesync mode: MAVLINK
  356. [ INFO] [1618233632.438808114]: Plugin sys_time initialized
  357. [ INFO] [1618233632.438928003]: Plugin trajectory loaded
  358. [ INFO] [1618233632.443039217]: Plugin trajectory initialized
  359. [ INFO] [1618233632.443134942]: Plugin vfr_hud loaded
  360. [ INFO] [1618233632.443497188]: Plugin vfr_hud initialized
  361. [ INFO] [1618233632.443523387]: Plugin vibration blacklisted
  362. [ INFO] [1618233632.443575161]: Plugin vision_pose_estimate loaded
  363. [ INFO] [1618233632.449652234]: Plugin vision_pose_estimate initialized
  364. [ INFO] [1618233632.449736840]: Plugin vision_speed_estimate loaded
  365. [ INFO] [1618233632.454440212, 15.712000000]: Plugin vision_speed_estimate initialized
  366. [ INFO] [1618233632.454574317, 15.712000000]: Plugin waypoint loaded
  367. [ INFO] [1618233632.459046814, 15.720000000]: Plugin waypoint initialized
  368. [ INFO] [1618233632.459090359, 15.720000000]: Plugin wheel_odometry blacklisted
  369. [ INFO] [1618233632.459179564, 15.720000000]: Plugin wind_estimation loaded
  370. [ INFO] [1618233632.459655253, 15.720000000]: Plugin wind_estimation initialized
  371. [ INFO] [1618233632.459698700, 15.720000000]: Autostarting mavlink via USB on PX4
  372. [ INFO] [1618233632.459733268, 15.720000000]: Built-in SIMD instructions: AVX SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2
  373. [ INFO] [1618233632.459760450, 15.720000000]: Built-in MAVLink package version: 2020.6.6
  374. [ INFO] [1618233632.459786927, 15.720000000]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
  375. [ INFO] [1618233632.459808112, 15.720000000]: MAVROS started. MY ID 1.240, TARGET ID 2.1
  376. [ INFO] [1618233632.460128802, 15.720000000]: udp0: Remote address: 127.0.0.1:14005
  377. [INFO] [1618233632.465176, 15.724000]: [DroneSpawner]: Mavros for uav1 started!
  378. [INFO] [1618233632.465382, 15.724000]: [DroneSpawner]: Spawning Gazebo model for uav1...
  379. ... logging to /home/thulio/.ros/log/d030ba5c-9b91-11eb-9bc9-afd3caee2f3b/roslaunch-OptiPlex-3040-32531.log
  380. started roslaunch server http://OptiPlex-3040:43809/
  381.  
  382. SUMMARY
  383. ========
  384.  
  385. PARAMETERS
  386. * /rosdistro: noetic
  387. * /rosversion: 1.15.9
  388. * /uav1/robot_description: <?xml version="1....
  389.  
  390. NODES
  391. /uav1/
  392. uav1_spawn (gazebo_ros/spawn_model)
  393.  
  394. ROS_MASTER_URI=http://localhost:11311
  395. process[uav1/uav1_spawn-2]: started with pid [33821]
  396. [INFO] [1618233633.679339, 16.936000]: [DroneSpawner]: Gazebo model for uav1 spawned!
  397. [INFO] [1618233633.679658, 16.936000]: [DroneSpawner]: Running firmware for uav1...
  398. ... logging to /home/thulio/.ros/log/d030ba5c-9b91-11eb-9bc9-afd3caee2f3b/roslaunch-OptiPlex-3040-32531.log
  399. [INFO] [1618233634.129628, 0.000000]: Loading model XML from ros parameter robot_description
  400. [INFO] [1618233634.143592, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
  401. [INFO] [1618233634.147091, 0.000000]: Calling service /gazebo/spawn_urdf_model
  402. started roslaunch server http://OptiPlex-3040:39747/
  403.  
  404. SUMMARY
  405. ========
  406.  
  407. PARAMETERS
  408. * /rosdistro: noetic
  409. * /rosversion: 1.15.9
  410.  
  411. NODES
  412. /uav1/
  413. sitl_uav1 (px4/px4)
  414.  
  415. ROS_MASTER_URI=http://localhost:11311
  416. INFO [px4] PX4 daemon already running for instance 1 (Success)
  417. failed to start local process: /home/thulio/mrs_workspace/devel/lib/px4/px4 /home/thulio/mrs_workspace/src/simulation/ros_packages/mrs_simulation/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i 1 -w sitl_uav1 -d __name:=sitl_uav1 __log:=/home/thulio/.ros/log/d030ba5c-9b91-11eb-9bc9-afd3caee2f3b/uav1-sitl_uav1-3.log
  418. local launch of px4/px4 failed
  419. [INFO] [1618233634.503664, 17.500000]: [DroneSpawner]: Firmware for uav1 started!
  420. [uav1/sitl_uav1-3] process has died [pid -1, exit code 255, cmd /home/thulio/mrs_workspace/devel/lib/px4/px4 /home/thulio/mrs_workspace/src/simulation/ros_packages/mrs_simulation/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i 1 -w sitl_uav1 -d __name:=sitl_uav1 __log:=/home/thulio/.ros/log/d030ba5c-9b91-11eb-9bc9-afd3caee2f3b/uav1-sitl_uav1-3.log].
  421. log file: /home/thulio/.ros/log/d030ba5c-9b91-11eb-9bc9-afd3caee2f3b/uav1-sitl_uav1-3*.log
  422. all processes on machine have died, roslaunch will exit
  423. [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
  424. [ INFO] [1618233634.677506981, 17.500000000]: Camera Plugin: Using the 'robotNamespace' param: '/uav1/'
  425. [ INFO] [1618233634.765489624, 17.500000000]: Camera Plugin (ns = /uav1/) <tf_prefix_>, set to "/uav1"
  426. [INFO] [1618233635.471049, 17.500000]: Spawn status: SpawnModel: Successfully spawned entity
  427. [Msg] [gazebo_gps_plugin] Home latitude is set to 0.827247.
  428. [Msg] [gazebo_gps_plugin] Home longitude is set to 0.149149.
  429. [Msg] [gazebo_gps_plugin] Home altitude is set to 0.
  430. [Msg] Connecting to PX4 SITL using TCP
  431. [Msg] Lockstep is enabled
  432. [Msg] Speed factor set to: 1
  433. [Msg] Using MAVLink protocol v2.0
  434. [ INFO] [1618233635.640685430, 17.512000000]: camera plugin - GazeboRosCameraUtils initialized
  435. [Wrn] [ColladaLoader.cc:1928] Triangle input semantic: 'COLOR' is currently not supported
  436. [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [media/materials/scripts/Gazebo.material]
  437. [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [file://media/materials/scripts/Gazebo.material]
  438. [Err] [RenderEngine.cc:480] URI doesn't exist[file://media/materials/scripts/Gazebo.material]
  439. [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [media/materials/scripts/Gazebo.material]
  440. [Wrn] [SystemPaths.cc:459] File or path does not exist [""] [file://media/materials/scripts/Gazebo.material]
  441. [Err] [RenderEngine.cc:480] URI doesn't exist[file://media/materials/scripts/Gazebo.material]
  442. [uav1/uav1_spawn-2] process has finished cleanly
  443. log file: /home/thulio/.ros/log/d030ba5c-9b91-11eb-9bc9-afd3caee2f3b/uav1-uav1_spawn-2*.log
  444. all processes on machine have died, roslaunch will exit
  445.  
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